WO2012029834A1

WO2012029834A1 - Specimen transfer mechanism

Info

Publication number: WO2012029834A1
Application number: PCT/JP2011/069723
Authority: WO
Inventors: 彰裕大礒; 芳輝平間; 達也福垣; 磯部　哲也; 洋晃酒井
Original assignee: 株式会社日立ハイテクノロジーズ
Priority date: 2010-09-03
Filing date: 2011-08-31
Publication date: 2012-03-08
Also published as: EP2613156A1; JP5525054B2; EP2613156A4; JPWO2012029834A1; US8956568B2; CN103080749B; US20130149079A1; CN103080749A; EP2613156B1

Abstract

This specimen transfer mechanism, described broadly, is characterized by: a specimen gripping method in which the lower part of the specimen container is gripped; and a cover which is effective as a guide, with a gripping arm that holds the specimen container, avoiding contact with other objects, and separating objects in its path, particularly specimen containers, when making approaching and retracting motions. The shape of the cover, the positioning of the specimen transfer container and such are characterized in several ways, in order to increase the effectiveness of the guiding function, and in order that the cover itself does not impede the specimen containers from being stacked in tall stacks. Thus, provided is a specimen transfer mechanism enabling transfer tasks to be performed with high throughput and safety, even under conditions in which various types of specimen containers are placed in the same area and specimen containers are stacked in tall stacks.

Description

Sample transfer mechanism

The present invention relates to an apparatus for transferring a sample container containing a biological sample, a reagent, and the like.

The sample transfer mechanism is used by being incorporated into various devices constituting a clinical laboratory automation (CLAS) system such as an IVD (in vitro diagnostics) device and a sample delivery system connected to the IVD device. As specific examples of IVD, various tests such as biochemical tests, immunological tests, hematological tests, nucleic acid amplification tests and the like can be considered. In addition, as an example of an IVD device equipped with a sample transfer mechanism and its peripheral devices, there are various sample transfer systems used in a clinical examination room, and input modules, storage modules, centrifugal modules and the like included in a sample pretreatment system. There is something.

The sample transfer mechanism is used for the purpose of grasping a sample container handled by an IVD device or the like from a holder or the like and transferring the sample container to another holder or the like. Here, the holder and the like collectively refer to all parts equipped with the function of holding the sample container, including at least all so-called sample carriers collectively (sample holder, sample bucket, sample rack, sample tray), In addition to the function to hold the sample container, it has a function to perform sample processing (batch-type thermostat etc.) and sample analysis (absorptiometric analysis, fluorescence intensity analysis etc) while holding the sample container. Including all things.

The sample transfer mechanism includes at least a gripper assembly, a transfer mechanism (for example, an XY stage, a robot arm, etc.) for moving the entire chuck mechanism to a desired position horizontally and vertically, and a control unit for controlling these. Is equipped.

The gripper assembly includes, as an end effector, a mechanism (chuck mechanism) for gripping and holding an object, and at least includes a mechanism for opening and closing the chuck mechanism.

The operation of the sample transfer mechanism is, roughly speaking, basic operations such as XY move operation, access operation, approach operation, retract operation, open operation, close operation, chuck operation, release operation, pick operation, place operation, etc. It is realized by the combination. Detailed definitions of these operations are described in the examples.

In recent years, IVD devices and the like that handle multiple types of sample containers have appeared, and sample containers of various lengths are mixed in the inside thereof. Therefore, the chuck mechanism used in such an IVD device or the like is required to steadily grip and transport even sample containers of various lengths. However, the appropriate gripping position of the sample container is uniquely determined for each sample container by the length of the sample container, the shape of the bottom surface, the shape of the stopper, and the shape of the sample container.

If the sample container is gripped at a position other than the proper gripping position, the problem of holding the stopper of the sample container may occur (resulting in only pulling out the stopper or unstable holding such as lifting the sample container together with the stopper) ) There is a concern that the sample container near the opening of the sample container may be contaminated.

Furthermore, depending on the length of the sample container in the pick operation, depending on the length of the sample container, the sample container does not fit in the holder in the situation where the gripping arm is opened and closed (not grasped) above the upper bottom of the sample container However, such a condition may be considered that the sample is released (the sample container is dropped because the sample container is released in the sky, and the sample container is dropped). The “appropriate gripping position” described here is a range that satisfies at least the following conditions on the outer surface of the sample container.
(1) A portion (exposed portion) exposed from the holder or the like that holds the sample container when the sample container is stably mounted on the holder or the like.
(2) The gripping arm does not contact the holder or the like during the gripping operation.
(3) It is separated from the vicinity of the opening of the sample container and the vicinity of the stopper of the sample container.

In the prior art, the lowering / rising stroke at the time of picking operation or placing operation is previously determined to reach an appropriate gripping position for each length of the sample container, and then stored as a drive pattern in the control unit. The height of the sample container is measured or detected each time in order to determine the appropriate gripping position for each picking operation of the sample container, and the approach operation and the retraction are performed based on the measurement result. There has been taken a method of switching the drive pattern (stroke in Z direction, lowering / rising speed) of operation (see, for example, Patent Document 1).

In addition, in the conventional sample transfer mechanism, the drive range in the vertical direction (Z direction) at the approach operation and the retract operation is the holding arm 160 and the sample container from the viewpoint of reducing the contact risk with the holding arm and the sample container. It was thought that it was better to be set (i.e. to be gripped upwards) to reduce the area where it is likely to touch.

However, performing the operation of detecting the height of the container each time the approach operation reduces the throughput of the apparatus in the first place.

Furthermore, in order to prepare a large number of drive patterns, the teaching operation for calibrating the approach and the stroke at the time of retraction must be performed with a large number of patterns, and it takes a great deal of time and effort when adjusting the apparatus. Here, the teaching operation refers to an operation of storing or calibrating the position information, the relationship between the operation amount / control amount of an actuator or the like, and the actual operation, etc. in the machine.

Furthermore, in the prior art, as a method of avoiding the risk of the gripping arm coming into contact with the sample container, a method of reducing space density such as lowering the mounting density of the sample container to a rack etc. or posture defect of the sample container was detected There is also a problem that there is only a temporally inefficient method such as correcting the posture of the sample container by the operation of the gripping arm or the like (see, for example, Patent Document 2).

JP 2004-61137 A Patent No. 04116206

As described above, in the sample transfer mechanism, in order to safely handle sample containers of various lengths, it is necessary to control the gripping position according to the length of each sample container. It was necessary to provide a mechanism or step to detect the height. As a result, there has been a problem that it leads to an increase in the device cost burden and a decrease in the processing speed of the entire device.

Also, conventionally, in order to avoid an accidental contact between the gripping arm and the sample container or an adverse effect due to it (such as the sample container and the gripping arm being caught during approach), the descent at the position where there is a contact risk of the gripping arm and the sample container / A method with poor time and space efficiency has been taken, such as greatly reducing the rising speed, widening the installation interval of the sample container, and correcting the posture of the sample container by sensor detection.

An object of the present invention is a sample transfer device or a sample transfer mechanism capable of handling sample containers of various lengths in view of the above problems, which has high safety, high throughput, and simple control method and device configuration. And a maintainable specimen transfer mechanism.

The features of the sample transfer device of the present invention for solving the above problems are as follows.

That is, it comprises a chuck mechanism having a plurality of openable and closable holding arms for holding the body outer wall of a plurality of types of sample containers having an opening, a bottom and a body, and opening and closing the chuck mechanism and the chuck mechanism And at least a transfer mechanism 010 for moving the gripper assembly 100 horizontally and vertically, and at least a control unit for controlling the chuck mechanism, the gripper assembly, and the transfer mechanism 010. Sample transfer mechanism,
(A) The present invention is characterized in that the holding arm is opened and closed for the pick / place operation in a state in which the holding arm is lowered to the common portion of the “appropriate holding positions” of all the sample containers to be handled.

Further, as another feature of the sample transfer device of the present invention,
(B) The present invention is characterized in that it has a member that covers at least the outside of the tip of the gripping arm and whose lower end is located below the tip of the gripping arm.

The effects produced by the sample transfer mechanism of the present invention will be described based on (A) (hereinafter, feature (A)) and (B) (hereinafter, feature (B)) of <Means for Solving the Problems>.

The sample transfer mechanism according to the present invention has at least the effects of the following features (A1) to (A7) by including the feature (A).
(A1) Even when the plurality of types of sample containers have body portions of different lengths, the amount of descent at the time of picking is the same regardless of the sample containers, so the length of the sample containers There is no need to provide a means for measuring H. and a means for switching the amount of descent at the time of picking operation according to the measurement result, and the apparatus configuration and control method are simplified.
(A2) Since the length of the portion held by the holding arm in the sample container body and the lower bottom is substantially the same regardless of the sample container, the descent amount at the time of the place operation is also for each sample container length There is no need to change, and the control method is simplified.
(A3) At least the time required to detect the length of the sample container (about 0.2 seconds to 1 second depending on conditions such as chattering) is unnecessary, which is advantageous for improving throughput (for example, transfer of 800 samples / h) In the sample transfer mechanism with the speed, the time required to transfer one sample container is 4.5 seconds.If the time required to transfer one sample is increased from 4.5 seconds to 5.0 seconds, 720 samples are required. A time of 0.2 seconds to about 1 second should be considered as a very long time because the throughput is lowered to / h).
(A4) Since the number of operation patterns is reduced, the number of teaching operation patterns is reduced, and maintenance becomes easy.
(A5) Since the lower side of the sample container is gripped, the distance between the gripping position for gripping the sample container and the lower bottom of the sample container becomes short, enabling accurate positioning when performing the place operation. .
(A6) Since the distance between the holding position for holding the sample container and the lower bottom of the sample container is short, torque caused by the pushing force to the holder etc. does not strongly take place in the holding position during the approach operation of the place operation. The sample container can be safely pushed into the holder container.
(A7) It is possible to avoid the situation in which the sample adheres to the gripping arm 160 by grasping the vicinity of the opening and the stopper, or the situation in which nothing can be grasped.

In addition, the feature (A) further has the following effects by further including the feature (B).
(B1) During approach operation, the gripping arm and the sample container to be accessed, and the surrounding sample container and the gripping arm do not contact.
(B2) There is a possibility that the sample container to which the cover 150 is to be accessed and the sample container in the periphery and the holding arm come in contact with each other even though the holding arm is not in contact. Because it is smooth, there is less risk from contact.
(B3) The cover 150 has an effect of scraping objects (especially the sample container) around the sample container to be approached / retracted during the approach operation / retract operation of the chuck mechanism, so it is faster than the conventional chuck mechanism. It is possible to improve the throughput, since the up / down operation can be performed (even if the speed increase / decrease operation is performed faster, there is no adverse effect). (B4) The cover 150 serves to guide the lowering of the gripper assembly even with respect to the holder in which the sample containers are closely held, so that it is easy to grasp the lower side of the sample containers.
(B5) There is no risk that the surrounding sample containers and the like will be repelled by the opening and closing operation of the gripping arm even when the chuck mechanism and the surrounding sample containers and the like are in contact during the opening and closing operation of the gripping arm.
(B6) As a result of the above (B5), the adverse effect of speeding up the opening and closing of the gripping arm is eliminated, and the speed of the opening and closing operation of the gripping arm can be increased.
(B7) The risk that the holding arm contacts the surrounding sample container and the posture is broken is significantly reduced.
(B8) Since the posture can be corrected by the cover 150 even when the sample container is held in a state of being inclined with respect to the holder, the chuck mechanism holds the sample container substantially perpendicular to the holder Can be held by

Principal part of sample transfer mechanism in the embodiment of the present invention Main part of the gripper assembly of the sample transfer mechanism in the embodiment of the present invention External view of chuck mechanism in the embodiment of the present invention Opening and closing mechanism of chuck mechanism in the embodiment of the present invention Front view of a cover in the form of the present invention 5 is a view of the cover of FIG. 5 in a state of being rotated 45 degrees counterclockwise from the state of FIG. 5 Top view of the cover in the form of the present invention Bottom view of the cover in the form of the present invention AA line sectional view of the cover of FIG. 5 Schematic diagram for explaining the gripping position of the chuck mechanism in the present invention Partial cross-sectional view showing the chuck mechanism chucking a sample container BB sectional view of FIG. 11 Partial cross section showing the situation when the chuck mechanism releases the sample container BB sectional view of FIG. 13 The same cross section as in Fig. 14, with the sample container closest to the rubber pad side of the tip of the gripping arm Example of lattice rack Example of grid-like rack (plan view) Sample transfer mechanism during approach / retract operation to grid rack Sample transfer mechanism that has approached a grid rack Sectional view by plane C of FIG. 17 Grab sample container, sample transfer mechanism during approach operation / retract operation External view of the five transfer holder Sample transfer mechanism approached to a five-carrier holder DD line sectional view of FIG. 23 Implementation example of sample transfer mechanism of the present invention

Hereinafter, preferred embodiments of the present invention will be described in detail.

<General configuration of sample transfer mechanism in the embodiment of the present invention>
FIG. 1 shows an overall view of a sample transfer mechanism in an embodiment of the present invention. The sample transfer mechanism includes a gripper assembly unit 100, a transfer mechanism 010 for operating the gripper assembly unit 100 in the horizontal and vertical directions, and a control unit for controlling the operation of the gripper assembly unit 100 and the transfer mechanism 010; It consists of

The transfer mechanism 010 of the sample transfer mechanism according to the present embodiment is an XY stage that operates the gripper assembly unit 100 in three directions of X direction 001, Y direction 002, and Z direction 003. Is not limited to this form as long as it is a mechanism capable of transferring the gripper assembly portion to a desired position, and may be, for example, a robot arm or the like.

In addition, the control unit controls each of the actuators of the sample transfer mechanism independently, and at least based on the respective drive patterns, a drive pattern storage unit that stores drive patterns for realizing each of the following basic operations. A timing control unit is provided to sequentially execute the timing of the operation.
XY move operation: operation to move the chuck mechanism in the XY direction by the transfer mechanism 010 (XY direction is a direction parallel to the horizon).
Access operation: Move the chuck mechanism to the XY position immediately above a specific sample container mounting portion on the sample rack or the like (a position where the central axes of the chucking mechanism and the sample container mounting portion substantially coincide), XY move Operation.
Approach operation: Operation to lower the chuck mechanism in the Z direction (direction perpendicular to the horizon) to approach a specific sample container mounting portion. An approach operation is only possible after the chuck mechanism has been accessed for a particular specimen container mounting.
Retract operation: Operation of raising the sample transfer mechanism, which has approached a specific sample container mounting unit, in the Z direction.
Open operation: An operation of causing the gripping arm to transition from the closed state to the open state.
Closing operation: an operation of causing the gripping arm to transition from the open state to the closed state.
Chuck operation: An operation of gripping a specific one sample container or the like by closing the chuck mechanism.
Release operation: An operation of releasing the sample container that has already been chucked by opening the chuck mechanism.
Picking operation: an operation of approaching a specific sample container mounting portion in a state where the gripping arm is open, and removing the sample with the sample container mounted on the sample container mounting portion.
Place operation: an operation in which the chuck mechanism holding the sample container approaches a specific sample container mounting portion, and the sample container is mounted on the sample container mounting portion.

<Overall Configuration of Gripper Assembly>
FIG. 2 is a front view of the gripper assembly portion 100 of the sample transfer mechanism in the embodiment of the present invention, using a partial cross-sectional view. 3 and 4 show the chuck mechanism of the gripper assembly unit 100. FIG.

The gripper assembly unit 100 according to the embodiment of the present invention mainly includes a chuck mechanism 200 for chucking a sample container.
The base unit 101 supports the chuck mechanism 200 and is connected to the transfer mechanism 010, and a cover 150 that covers the outside of the chuck mechanism 200.

The chuck mechanism connects at least a plurality of (four in this embodiment) gripping arms 160 (a), (b), (c), (d) and all the gripping arms with the base portion 101. The fixing tool 161, the linear motion cam 230, and the springs 163 (a), (b), (c), and (d) have the same number as the gripping arms.

Hereinafter, in order to describe the structure of the gripper assembly unit 100, three directions of s direction 120, t direction 130, and u direction 140 are defined. The s-direction 120, the t-direction 130, and the u-direction 140 are defined to be left-handed, and the s-direction 120 is defined to be downward as a positive direction.

First, the chuck mechanism of the embodiment of the present invention has an axially symmetrical shape. The datum axis (central axis 110 of the gripper assembly) that represents the symmetry of the chucking mechanism is assumed to coincide with the s direction.

The cover is also axisymmetric and the cover 150 is assembled to the gripper assembly portion 100 such that the central axis 300 of the cover coincides with the central axis 110 of the gripper assembly. In this embodiment, the cover is screwed to the fixture 161 of the chuck mechanism 110 by the screws 170 (a) to (d), and is assembled to the gripper assembly 100 through the fixture 161.

The base portion 101 of the gripper assembly 100 is provided with a mechanism (not shown) for opening and closing the gripping arm 160 of the chuck mechanism 110.

Furthermore, the gripper assembly 100 is assembled to the XYZ stage 010, more specifically, so that the u direction 140 is parallel to the Z direction 003 and the s direction 120, the t direction 130, They are assembled so as to form an angle of 45 degrees with the X direction 001 and the Y direction 002, respectively.

<Structure of chuck mechanism>
The gripping arms 160 (a), (b), (c) and (d) are arranged in axial symmetry with respect to the central axis 110 of the gripper assembly, and when viewed from below the chuck mechanism 200, counterclockwise. In the order of 160 (a), (b), (c) and (d), 160 (a) and 160 (c) face each other, and 160 (b) and (d) face each other. ing.

Further, a fixture 161 connecting the gripping arm to the base portion 101 is attached so as to be perpendicular to the s direction 120.

The fixture 160 and the gripping arms 160 (a), (b), (c), (d) are 162 (a), (b), (c), (d), respectively, at 162 (a), (B), (c) and (d) are movably connected to the fixture 161 so as to be swingable. That is, the gripping arms 160 (a), (b), (c) and (d) are connected with the fixing tool 161 near the upper end, and the joint has at least one degree of freedom. It is connected to make a structure.

In addition, the linear motion cam 230 extended from the base portion 101 in the u direction 140 moves up and down in the u direction 140 on the central axis 300 of the cover, and the base portion 101 is a solenoid (shown in FIG. Do not have). Ring-shaped followers 231 (a), (b), (c) and (d) are provided in each of 160 (a), (b), (c) and (d), respectively. The cam is configured to be in constant contact. Further, the open / close direction of the grip arm 160 (b) and the grip arm 160 (d) coincides with the s direction 120, and the open / close direction of the grip arm 160 (a) and the grip arm 160 (d) is the t direction 130, It is configured.

The chuck mechanism also includes a spring 163 (a) connecting the gripping arm 160 (a) and the gripping arm 160 (b), and a spring 163 (c) linking the gripping arms 160 (b) and 160 (c). A spring 163 (c) connecting the gripping arm 160 (c) and the gripping arm 160 (d), and a spring 163 (d) linking the gripping arms 160 (d) and 160 (a). It is equipped. Due to the elastic force of these springs, the gripping arm 160 is always urged in the direction in which the gripping arm 160 is closed.

The operation of opening the gripping arm 160 is realized by pushing down the gripping arm 160 by lowering the linear motion cam 230. In addition, holding the holding arm 160 in the open state is realized by stopping the position of the linear motion cam 230 at the position where the holding arm 160 is the most open. Further, the feed amount of the linear motion cam 230 is set so that the linear motion cam 230 stops at a position where the gripping arm 160 is substantially vertical. In this manner, the opening / closing mechanism of the gripping arm 160 is realized such that the gripping arm 160 is vertical when the gripping arm 160 is in the most open state.

Also, conventionally, the linear motion cam 230 used has a generally trapezoidal cross-sectional shape, but as the opening becomes larger, the opening / closing angle per unit lowering / rising amount of the linear motion cam becomes larger A step 232 is attached so as to become.

In the embodiment of the present invention, the actuator for operating the linear motion cam 230 to open and close the holding arm 160 is a solenoid actuator (not shown) mounted in the base portion 101, so switching between ON and OFF These opening and closing operations can be realized only by

<Structure of cover>
FIG. 5 shows a front view of the cover 150 in the form of the present invention. FIG. 6 is a view of the cover of FIG. 5 in a state in which the cover of FIG. 5 is rotated 45 degrees counterclockwise with respect to the central axis 110 of the sample transfer mechanism 100. FIG. 7 shows a plan view of the cover 150 in the embodiment of the present invention, and FIG. 8 shows a top view of the cover in the embodiment of the present invention. FIG. 9 shows a cross-sectional view of the cover along the line AA in the embodiment of the present invention.

The cover 150 of the present invention is formed in axial symmetry with respect to the central axis 300. The cover 150 may be formed by cutting out as a single piece from a bar of metal such as aluminum by machining such as lathe processing, or may be formed by molding of metal, resin, etc. Even those assembled using parts of

Further, the chuck mechanism 200 provides a certain amount of play in the front, rear, left, and right with respect to the XYZ stage 010 and pushes the vicinity of the opening 330 of the cover in a direction perpendicular to the central axis 300 of the cover. It may be fixed in a state of bending about several mm.

The cover 150 in the present invention is fixed to the chuck mechanism 200 by a screw 170 so that the central axis 300 of the cover and the central axis 110 of the sample transfer mechanism coincide with each other.

Hereinafter, the structure of the cover 150 itself will be described. The shape of the cover 150 is axisymmetrical, and the central axis 300 of the cover is assembled to the gripper assembly 100 so as to coincide with the central axis 110 of the gripper assembly. , T direction 130 and u direction 140 are used.

The cover of the present invention, when mounted on the gripper assembly 100, has a hollow 500 on the inside that can accommodate the sample container.

Further, the cover 150 is molded so that the tip of the cover 150 is located lower than the tip of the gripping arm 160 in a state of being attached to the gripper assembly 100.

Further, the cover 150 has an opening 330 with a plurality of broken tips at its lower end, and the corners of the tip are processed into a rounded shape. As the shape, for example, a C-chamfered shape (for example, 600 (a)-(d)) of about several mm or an R processed shape (inner side) 610 or an R processed shape (outer side) (for example 620 (a)-(d) And the like can be considered.

Further, the cover 150 is provided on the inner wall of the cover 150 with grooves 320 (a) to (d) at least as many as the gripping arms 160. The grooves 320 (a) to (d) are formed such that the gripping arms enter the grooves 320 in a state in which the gripping arms 160 are opened in a state of being attached to the gripper assembly 100.

That is, the downwardly extending grooves 320 (a)-(d) are arranged in axial symmetry and at equal intervals with respect to the central axis 300, and 320 (a) and (c) are opposed to each other, 320 (b) and d) are formed to face each other, the direction from 320 (b) to 320 (d) is s direction 120, and the direction from 320 (a) to 320 (c) is t direction 130. ing. Also, the groove does not extend to the lower end 330 of the cover.

The recesses 340 are also axially symmetrical and equally spaced about the central axis 300 of the cover and extend in the vertical direction of the cover 150, in particular the recesses 340 extend to the lower end of the cover. The direction from the vertex of the recess 340 (b) to the vertex 340 (d) is formed at an angle of 45 degrees with the s direction 120, and the direction from the vertex 340 (a) to the vertex 340 (c) is , And 45 degrees with the s direction 120. Here, the apex of each recess means the position where the ridge line of the recess 340 is most recessed in the vertical cross section (cross section perpendicular to the u direction 140) of the cover 150 (the position furthest from the circumscribed circle of the cover) Point to

<About the holding position of the sample container>
FIG. 10 is a schematic view for explaining the gripping position of the chuck mechanism to be taught in the teaching operation in the present invention. A short sample container 710 and a long sample container 720 are respectively attached to the single-

piece transport holders

720 and 721 installed on the same reference surface. Both long and short sample containers are provided with

plugs

740 and 741, respectively. In addition, in FIG. 10, it demonstrates using the thing of the state which removed the cover 150 from the gripper assembly 100 for legibility.

The holding position of the short sample container 710 and the holding position of the long sample container 720 in the present invention are schematically shown in FIG. The holding position is a region of the outer surface of the sample container body, which satisfies all the following conditions (1) to (3).
(1) A portion exposed from a holder or the like for holding a sample container.
(2) The gripper assembly 100 does not contact the holder or the like during the gripping operation.
(3) It is separated from the vicinity of the opening of the sample container and the vicinity of the stopper of the sample container.

Among the above conditions, the exposed length of (1) is uniquely determined by the total length of the sample container, the shape of the bottom surface, the shape of the holder, and the like.

The area x1 corresponds to the short sample container 710, and the area x2 corresponds to the long sample container 720.

Further, (2) means that the lower end of the gripping arm 160 is several mm away from the upper surface of the holder holding the sample container, and is uniquely determined by the shape of the holder. Regions y1 and y2 correspond to both the long specimen container 710 and the short specimen container 720.

Furthermore, in the case (3), in consideration of the shape and size of the plug attached to the sample container that can be used in the chuck mechanism, a part of the plug is exposed to the outside of the sample container (In the case of Screw-Cap), the protrusion 210 of the gripping arm 160 is several mm from the lower end of the part where the plug is exposed to the outside, ie, the part where the sample container covers the surface of the sample container like a skirt. It means that they are separated, and the area z1 and the area z2 correspond to this.

From the above, for each sample container, in the area satisfying all conditions of (1) to (3), that is, in the short sample container 710, the area p730 as an overlapping portion of x1 to z1 and the long sample container 720 If this is the case, a region q731 as an overlapping portion of x2 to z2 is determined.

The chuck mechanism determines an area satisfying the above (1) to (3) for the longest sample container and the shortest sample container among the sample containers that can be handled, assuming that the region common to both is the appropriate gripping position The downward stroke at the time of approach operation etc. is determined so that the projections 210 of all the gripping arms 160 come to the height. In the case of FIG. 10, since the overlapping region of the region p730 and the region q731 is the region p730, when the specimen container having the shortest exposed portion among the specimen containers to be handled is the specimen container 710, For any sample container, the gripping arm 160 may be lowered to a height at which the region p 730 can be gripped to grip the sample. In addition, when there is a sample container whose exposed portion is shorter, the sample container may be regarded as the shorter sample container, that is, the sample container 710 of FIG. 10, and the same examination may be performed.

If the gripping position of the chuck mechanism is determined by the above method, the sample container is gripped at a lower position than the conventional one except for the shortest sample container. At this time, in order to prevent the upper end of the stopper of the sample container or the opening from coming into contact with a part of the gripper assembly such as the gripping arm 160 and the gripping arm opening / closing mechanism (cam-follower mechanism in the present invention), It is desirable that the length L of each gripping arm 160 be longer than the length (1) of the longest sample container (x1) minus the gripping position l (Ll).

Also, as with a normal rubber stopper, the stopper of the sample container is screwed into and attached to the inside of the sample container, and a part of the lid is not covered on the surface of the sample container, or the stopper is attached to the sample container. If not, it is desirable to consider the case where the externally exposed plug is attached and to consider the same.

The optimal gripping position is determined in advance at the time of design of the sample transfer mechanism, and is added / updated at the time of maintenance as needed.

<Shape of gripping arm>
At the tip of each of the gripping arms 160, protrusions 210 (a)-(d) are formed by which the sample container is pressed against the surface of the body when the sample container is gripped. Furthermore, in order to hold the sample container securely, rubber members 220 (a) to (d) having large coefficients of friction are attached to the portions where the protrusions 210 (a) to (d) hold the sample container, and the sample container slips and falls It is preventing etc.

Further, the length of the gripping arm 160 is characterized by being longer than the upper bottom of the sample container from the gripping position in the lower gripping state.

<Example of mounting to IVD equipment etc.>
FIG. 25 shows an implementation example of the sample transfer mechanism in the embodiment of the present invention. FIG. 25 shows the sample transfer mechanism of the present invention in a sample pretreatment system in which a series of processing such as opening processing, centrifugation processing, child sample dispensing processing and plugging processing are performed on the input sample container. It is a figure of the union.

The sample transfer mechanism of the present invention comprises a sample loading unit 2510 (b) for transferring a large number of sample containers loaded on a tray and loaded from a tray to a sample transfer holder, and buckets sample containers transferred by the holder. Between the holder, tray, and bucket, such as a centrifuge unit 2510 (a) that transfers and centrifuges on a container, and a storage unit 2510 (c) for taking out the processed sample container from the holder and arranging it on a storage tray The container can be incorporated into various units that need to be transferred. Also, as shown in FIG. 1, since the XY stage and the gripper assembly 100 are provided in an integrated state, they can be easily incorporated into various devices. The control unit of the sample transfer mechanism of the present invention may be used as the control unit of the sample pretreatment system body or the control unit of each unit.

In the description of the first embodiment of the present invention, a pick operation will be described as an example of operations in which the sample transfer mechanism of the present invention transfers a sample container from a sample rack to another sample rack.

FIGS. 16 and 17 show a grid rack in which m and n are both 3 as an example of a sample rack (grid rack) characterized in that the sample holders are arranged in a square grid of m × n. That is, the lattice-shaped rack 1400 of the present embodiment, the sample container mounting portion 1410 for mounting the sample container (a) - (e) a longitudinally three lines (C _Y axis 1510 direction in FIG. 17), the lateral direction (FIG. A total of nine sample container mounting parts are arranged in a square grid shape in three rows in the direction of 17 C _X- axis 1500), but if the holders are arranged in a square grid shape, even in other configurations I do not care.

Further, the lattice rack 1400 is installed in an example such that the C _X axis direction 1500 is opposite to the X axis direction 001 and the C _Y axis direction 1510 is the same as the Y axis direction 002. However, it is preferable that the lattice rack be installed face up and the angle between the C _X axis direction 1500 and the X direction 001 be any of 0 °, 90 °, 180 °, and 270 °.

Hereinafter, an operation of gripping the sample container 800 mounted on a specific sample container mounting portion 1400 (e) on the grid rack 1400 by the sample transfer mechanism 100 will be described. In the present embodiment, it is assumed that the sample containers 800 are attached to all the lattice racks 1400.

18 to 21 are schematic views of the sample transfer mechanism 100 during approach to the lattice rack 1400. FIG. The flow of the sample container gripping operation will be described below.
1. First, the sample transfer mechanism 100 is driven in the X direction 001 and the Y direction 002 by the XYZ stage, and the sample loading unit 1410 in which the central axis 110 of the sample transfer device and the sample container to be picked up are installed. When the central axes of (e) substantially coincide with each other, the operation of the chuck mechanism 200 in the X direction 001 and the Y direction 002 is stopped (access operation).
2. Thereafter, the gripping arm 160 is opened (open operation).
3. In this state, as shown in FIG. 18, the sample transfer mechanism 100 is lowered in the Z-axis direction 120, and as shown in FIG. 19, the sample container 800 mounted on the sample container mounting portion 1410 (e) can be grasped. Stop the movement in the Z direction (approach operation).
4. The gripping arm 160 is closed to grip and fix the sample container 800 (chucking operation).
5. In the above state, as shown in FIG. 21, the sample transfer mechanism 100 is driven upward (retract operation).

In the present invention, in performing these steps, it is not necessary to measure the tilt or height of the sample container to be subjected to the picking operation.

A cross-sectional view of a C-plane 1700 in the state of FIG. 19 is shown in FIG. A distance a 1520 between the sample container mounting unit 1400 (e) to which the gripper assembly 100 is to be accessed and the nearest sample container mounting unit (eg, 1400 (d)), and a second sample container mounting unit (the second For example, consider a distance b 1530 with 1400 (i). Since the sample container mounting portion is arranged in a square grid, the distance b is longer by √2 times the distance a.

On the other hand, the gripper assembly 100 is assembled to the XYZ stage 010 as described above, more specifically, with the u direction 140 parallel to the Z direction 003 in the opposite direction, s direction 120, t The directions 130 are assembled at an angle of 45 degrees with the X direction 001 and the Y direction 002, respectively. Also, the arrangement of the lattice racks is as described above. For this purpose, the four gripping arms 160 of the gripper assembly 100 are 45 degrees (see angular dimension c1800) with respect to the grid axes of the square grid array of containers mounted on the container holder, C _X 1500, C _Y 1510 It will be arranged to have an angle of.

As a result, in any of the approach operation and the retraction operation, the gripping arms 160 are respectively positioned in wide gap portions (distance b) between the second closest four sample container mounting portions. In addition, the gripping arm is perpendicular to the horizon in the most open state. Accordingly, the space efficiency is effectively utilized, and the presence of the gripping arms 160 and the occupied volume due to the presence of the cover 150 do not reduce the mountable density of the sample container of the lattice rack.

In addition, the presence of the cover 150 according to the present embodiment allows the sample container to be largely inclined due to any cause at the timing when the grasping arm does not hold the sample container during the approach operation and the retract operation. Because the sample container leans against the inner wall of the cover 150, it does not fall over.

Further, in the approach operation, when the inclination of the sample container held by the holder is large, the sample arm can not properly hold the sample container by the conventional sample transfer mechanism. However, in the sample transfer mechanism according to the present invention, the cover 150 is provided, and by gripping the lower part of the sample container, the inner wall of the cover 150 becomes a guide as the approach advances even if the sample container is greatly inclined. The posture of the subject can be corrected, and the sample container can be held straight.

Moreover, the hollow 340 may be provided in the outer wall of the cover 150 of a present Example. In the sample transfer mechanism according to the embodiment of the present invention, the opening / closing direction of the gripping arm 160, that is, the s direction 120 and the t direction 130 is 45 degrees (see angular dimension c1800) with respect to the lattice axis, C _X 1500, C _Y 1510 Because of the angled arrangement, when the grid rack is accessed, a recess 340 (a)-(d) is formed between all the other sample containers in the first proximity position of the accessed sample container. It will be located. As a result, even when the sample containers are densely packed on the holder, the recess 340 on the cover 150 can scrape and approach the adjacent sample containers, and unnecessary and unexpected tension is not applied to the surrounding sample containers. Furthermore, even if the sample container held on the holder is inclined, it is possible to correct the posture of the sample container 800 by the presence of the cover 150.

Further, grooves 320 for accommodating the gripping arms 160 may be formed on the inner wall of the cover 150 of the present embodiment in the same number as the number of gripping arms 160.

In this case, as described in <Structure of Chuck Mechanism> (see FIG. 4), the sample transfer mechanism should be such that each gripping arm 160 is perpendicular to the upper end surface of the holder with the gripping arm 160 in the most open state. Is desirable. In other words, when the gripping arm 160 is opened, at least the tips of all the gripping arms 160 are buried in the groove, so that when the sample transfer mechanism approaches the sample holder, the sample container to be transferred is the sample container to be transferred. And other sample containers will not get caught.

Further, the front end 330 of the cover of this embodiment may be located below the lower end of the gripping arm 160. The corner of the cover tip has a rounded structure formed by a C-chamfered shape of about several millimeters, or a combination of R-processed shapes, or the like. As a result, the other sample container 800 mounted on another sample container mounting unit 1400 (b) or the like adjacent to the sample container mounting unit 1400 (e) on which the sample container 800 to be gripped is mounted contacts the cover tip. Even so, the tension applied to the sample container 800 is much smaller than when the gripping arm 160 is in direct contact, and the risk of falling and breakage of the sample container 800 can be suppressed.

Furthermore, as another effect, for example, in a state where the gripping arm 160 is opened and the sample container 800 is released, the relative position between the sample container 800 and the sample transfer mechanism 100 deviates in the XY direction for some reason, the sample container 800 Is the state closest to the rubber member 220 at the tip of the gripping arm 160 (see FIG. 15), the sample container 800 is in contact with the inner wall of the cover 1300 (a), (b) Contact) and never fall further. Furthermore, since the gripping arm 160 is buried in the groove 320 formed in the cover wall surface, the outer surface of the sample container 800 and the rubber member 220 at the tip of the gripping arm do not contact with the gripping arm 160 open. Falling of the sample container 800 can be prevented.

As described above, even in the case where the gripping arm descends by a long distance and approaches the sample container, the cover serves as a guide for guiding the gripping arm downward, and therefore, the smooth downward motion and the downward gripping are possible. Therefore, basically no acceleration / deceleration other than the acceleration / deceleration operation which is inevitably performed with the stop or start of the actuator becomes unnecessary, or the acceleration / deceleration section becomes smaller area, and the approach operation and the retract operation at high speed It becomes possible.

Further, as compared with the conventional method in which the height of the sample container is determined to change the down stroke, sensor detection is unnecessary, and therefore, it is possible to reduce time loss and apparatus cost. Further, even in the case of downward gripping, the descending distance / raising distance does not necessarily become long, but even if the descending distance becomes long, even in a region where the lower end of the gripping arm 160 is located below the upper bottom of the sample container. The ability to move up and down at high speed (since there is no adverse effect from moving at high speed) can also reduce the effects of time loss. Furthermore, since it is not necessary to switch the lowering operation according to the height of the sample container, the control of the sample transfer mechanism is simplified.

In addition, the cover 150 also has the effect of vertically correcting the posture of the sample container. As a result, regardless of the type of sample container, it is possible to perform highly accurate transfer processing with high safety and effects such as posture correction.

In addition, since the downward gripping becomes possible by the above effect, it becomes possible to reliably grip and transfer regardless of the type of the sample container. That is, since any sample container type can be lowered to a position where it can be gripped, the risk of falling and the risk of dropout of the sample container during transfer can be reduced.

Next, a second embodiment of the present invention will be described by taking, as an example, a place operation in which the sample container 800 is mounted on a grid rack 1400 capable of mounting the sample container 800 in a square grid shape. Therefore, the same components as those of the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

The case where the sample transfer unit, which has already chucked the sample container 800, accesses the sample mounting unit 1410 (e) not mounted with the sample holder and mounts the sample container 800 on the sample holder will be described as an example.

First, the flow of the sample container place will be described.
1. When the central axis 110 of the sample transfer device almost coincides with the central axis of the sample container mounting unit 1410 e by the XYZ stage 010, the movement of the chuck mechanism 200 in the X direction 001 and Y direction 002 is stopped (access ).
2. Thereafter, while the sample container 800 is chucked, the sample container 800 is lowered in the Z-axis direction 120, and the lowering is stopped (approach) while the bottom of the sample container 800 is in contact with the bottom of the sample container mounting portion 1410e.
3. In this state, by opening the gripping arm 160, the sample container 800 is released.
4. Thereafter, the sample transfer mechanism 100 is raised in the Z direction 003 with the gripping arm 160 opened, thereby retracting the gripping arm 160 upward (retracting).

Also in the place operation, as in the first embodiment, the outer wall and the inner wall of the cover 150 serve as a guide and can be smoothly lowered, and the decelerating section can be shortened not only when the holding arm 160 is greatly lowered. There is also an effect that the cover shows an effect such as posture correction of the sample container, etc., even if it is an operation to greatly lower

Furthermore, in the place operation, an operation of opening the gripping arm 160 occurs in a state where the gripping arm 160 is lowered. When the gripping arm 160 is opened, it is better from the viewpoint of throughput to open faster. However, when the biased gripping arm 160 comes into contact with the surrounding sample container, there is a concern that the surrounding sample container may be tilted or the momentum may cause the sample container to be repelled. However, due to the structure in which the gripping arm 160 is substantially vertical when the gripping arm 160 is in the most open state, and the groove structure of the cover, the gripping arm 160 is also peripheral in the opening operation of the gripping arm 160 after approach (during the place operation etc.) There is no risk of contact with the sample container of Therefore, it is possible to open the gripping arm 160 at high speed (there is no adverse effect due to the high speed opening). When the sample container is held in a slightly inclined state and approach is made for the place operation, if the inclined angle is the same, the distance between the holding position and the bottom of the sample container is short. The shorter the distance, the smaller the deviation from the center position of the bottom of the sample container. Therefore, the lower grip is more accurate than the upper grip.

Further, in a sample holder or the like that handles different types of sample containers, the sample container mounting portion for mounting the sample containers has a structure in which sample containers having different cross-sectional diameters can be mounted. As a typical structure, the outer shape of the sample container mounting portion is designed to be large so that the sample container with the largest diameter can be mounted, and a spring etc. can be held inside so that the sample container with a diameter smaller than this diameter can be held. A mechanism for holding the sample container by the elastic force of the elastic body of Therefore, when mounting the sample container, it is necessary to push the sample container into the sample container mounting portion against the resistance due to the frictional force or the like caused by the contact of the elastic body. The resistance from the holder side at this time should ideally only be in the vertical direction, but in practice, as a result of some phenomena such as slight tilting of the sample container at the time of insertion The torque will be applied to the position. This torque increases as the distance between the portion of the sample container in contact with the sample holder and the grip portion increases. Therefore, the lower grip is less affected by the torque, and thus more stable. Place operation becomes possible.

Similarly, when the place operation is performed in the lower gripping state, the distance from the gripping position to the lower bottom of the sample container is shorter than in the case of the upper gripping. Therefore, even if the tip of the sample container comes in contact with the peripheral sample container or the edge of the sample container mounting portion such as the holder during lowering, the torque applied to the holding position is smaller than in the case of the upper holding. . Therefore, there is little risk of dropping out etc. even if such a situation occurs.

Also, the sample container can be reliably released during the place operation. For example, the sample container 800 may be attached with a seal such as a bar code label in order to identify the stored sample, but the seal may generate an adhesive area on the surface of the sample container. . In the conventional sample transfer mechanism, even if the gripping arm 160 is opened for release operation, the gripping force between the sample container 800 and the rubber member at the tip of the gripping arm 160 (for example, 220 (d)) And the sample container 800 may not be separated. In the sample transfer mechanism 100 according to the present embodiment, the groove 320 is formed on the inner wall of the cover such that the grip arm 160 is embedded when the grip arm 160 is open, so the contact 1300 with the inner wall of the cover (a) The specimen container 800 can be reliably released from the rubber member 220 (d) at the tip of the gripping arm by the normal force from (b). Furthermore, since both the cover 150 and the sample container 800 are axisymmetrical, the contact area between the inner wall of the cover and the sample container 800 is small, and when the sample container 800 is pulled off from the rubber member 220 at the tip of the gripping arm 160 It is unlikely that the sample container 800 adheres to the inner wall of the cover.

As described above, lowering the processing speed (lowering the lowering speed or the like) by lowering the gripping arm 160 to a region where the lower end of the gripping arm 160 is positioned so as to be significantly lower than the upper end of the sample container And the risk of an accident, so that it is possible to hold the lower side as described in <Holding position of sample container>. As a result, as described in <Holding position of the sample container>, any sample to be handled can be held at a grippable position. More precisely speaking, any sample to be handled is lowered to the grippable position. There will be no reduction in throughput or risk of falling. Therefore, as compared with the conventional method in which the height of the sample container is determined and the descending stroke is switched for each length of the sample container, time loss due to sensor detection or the like does not occur.

Even in the case of downward gripping, the descending stroke does not necessarily become long, but even in such a case, the lower end of the gripping arm 160 can move up and down at high speed even in a region located below the upper bottom of the sample container (high speed Control) because it is not necessary to switch many descending distances).

In addition, compared to the conventional sample transfer mechanism that does not have the cover 150 regardless of the gripping position, there is no risk of contact of the gripping arm with the sample container etc. Highly reproducible transfer is possible.

Next, a third embodiment of the present invention will be described. In the present embodiment, when the sample transfer mechanism 100 is provided in a sample transport mechanism capable of transporting a sample rack in which a plurality of sample container mounting parts are arranged in a line, the sample transfer mechanism 100 grips the sample container included in the sample rack. The operation is taken as an example. Therefore, the same components as those of the first embodiment are denoted by the same reference numerals, and the description thereof is omitted. In addition, since a sample rack (five transport racks) in which five sample holders are arranged in a row is generally used as the above-mentioned sample rack, the pick / place operation for the five transport racks is performed in this embodiment. An example will be described.

FIG. 22 shows the appearance of the five-carrier rack 2100 in this embodiment. There are five sample container mounting portions 2110 (a)-(e) in the five-carrier rack 2100. FIG. 22 schematically shows the sample transfer mechanism 100 that has approached the five-carrier rack 2100 in which the sample containers 800 are mounted in all the sample mounting portions 2110. The sample containers are denoted by reference numerals 2210 (a) to (e) in order from the left, and are attached to the sample container attachment units 2110 (a) to (e), respectively.

The operation of the sample transfer mechanism 100 will be described by taking, as an example, an operation in which the sample transfer mechanism 100 accesses the sample container mounting portion 2110 (c) to be transferred and grips this by the sample transfer means. At this time, naturally, it is assumed that the chuck mechanism 200 of the sample transfer means has not yet chucked the sample container.

First, the sample transfer mechanism 100 was driven in the X direction 001 and the Y direction by the XYZ stage, and the central axis 110 of the sample transfer mechanism and the central axis of the sample container mounting portion 2110 (c) were substantially coincident with each other. At the point of time, the operations of the sample chuck mechanism 200 in the X direction 001 and the Y direction 002 are stopped. Thereafter, the holding arm 160 is lowered and lowered in the Z-axis direction 120, and as shown in FIG. 21, when the sample container 2120 (c) can be held, the movement in the Z direction is stopped. Thereafter, the sample container to be transferred is transferred by mounting it ascending in the Z direction while holding the sample container 2120 (c).

In this embodiment, since the sample containers 2210 (b) and (d) adjacent to the sample container 2210 (c) to be transferred are present in only one direction (G _X axis direction 2300 in FIG. 23), the cover recess 340 provided in the outer wall, may be present only in both sides of the G _X direction 2300. That is, the recess 340 in the G _Y direction 2310 is not necessarily required. However, the sample container before transfer to for example five transport rack 2100, when the operation of increasing grip the sample container from the lattice-shaped rack 1400 enters, the conceivable better was also recess 340 in the G _Y direction 2310 .

In addition, the number of gripping arms 160 for gripping and lifting up the sample container is two. In this case, the structure of the sample transfer mechanism 100 can be simplified and the cost of the apparatus can be reduced. Further, by providing a work area of the gripping arms 160 in the G _Y direction 2310, it is possible to sample gripping operation without being aware of the adjacent sample container.

When four gripping arms 160 are provided, the sample container can be stably gripped. Arrangement in this case, four gripping arms 160 includes an X-axis direction 130, Y-axis 140 is the opening and closing direction of the gripping arm 160, G _X-axis direction 2300, G _Y-axis direction 2310 forms an angle of 45 ° Let's do it. By doing this, even when the gripping arm 160 is open, the mounting density of the sample container can be increased without the gripping arm 160 entering between adjacent sample containers.

In addition, for example, in the case of pick / place operation for a single-piece transfer holder as described in FIG. 10, contact between the arm and the sample container for pick / place object is avoided, and a pad is attached to the surface of the sample container The effects such as the tear-off effect of

In addition, since the upper side of the sample container is transferred while being held in the cover 150, even if an accident or the like occurs when the operator or the like contacts the gripper assembly 100 of the transfer mechanism during the transfer operation. There is also an effect that the risk of falling or the like is lower when contacting the cover 150 than when contacting the sample container itself.

001 X direction 002 Y direction 003 Z direction 010 Transfer mechanism of sample transfer mechanism in the embodiment of the present invention (XYZ stage)
100 Gripper assembly 101 of sample transfer mechanism Base portion 110 of gripper assembly of sample transfer mechanism Central axis of sample transfer mechanism (this is a datum axis)
120 s direction 130 t direction 140 u direction 150 covers 160 (a), (b), (c), (d) gripping arms 161 fixtures 162 (a), (b), (c), (d) gripping arms And the connecting part of the fixture (some symbols are not shown in the figure for the sake of easy viewing of the figure)
170 (a), (b), (c), (d) Screws (Some symbols are not shown in the drawings for the sake of easy viewing of the drawings)
200 chuck mechanism 210 (a)-(d) projection 220 (a)-(d) rubber member 230 linear motion cam 231 follower (a), (b), (c), (d) (Some symbols are not shown in the figure)
232 step 300 central axis of the cover (this is the datum axis)
310 AA line 320 (a)-(d) groove 330 opening 340 (a)-(d) recess 500 hollow 510 cover inner wall 600 (a)-(d) C chamfer shape 610 R processed portion (inside)
620 (a)-(d) R processed part (outside)
700, 701 Gripper assembly (cover excluded)
710 short sample container 711

long sample container

720, 721 single transport holder 730 short sample container grippable position 731 long sample

container grippable position

740, 741 stopper 750 reference surface 800 sample container 900 BB line 1300 (a) , (B) Contact point with the inner wall of the cover 1400 Lattice rack 1410 (a)-(i), 2110 (a)-(e) Sample container mounting portion 1500 C _X axis 1510 C _Y axis 1520 Distance a
1530 distance b
1600 (a)-(g) Sample container mounted in a grid rack (some symbols are not shown in the figure for easy viewing of the figure)
1700 C plane 1800 Angle between X axis and C _X axis (angular dimension c)
2100 5-piece transfer rack 2200 DD line 2210 (a)-(f) Sample containers (a, b, c, d, e, f are described in the order from the left toward FIG. Without
2020 Single carrier holder outer wall 2300 G _X- axis direction 2310 G _Y- axis direction 2500 Sample pretreatment system 2510 (a)-(c) Sample transfer mechanism attached to the sample pretreatment system

Claims

A plurality of openable and closable gripping arms (160) for gripping the body of a plurality of types of sample containers (710, 711, 800) having an opening, a bottom and a body;
An elevating mechanism (010) for lowering the plurality of gripping arms to a predetermined position with respect to a sample container to be gripped;
The plurality of types of sample containers have body parts (730, 731) of different lengths,
A sample transfer mechanism comprising: a control mechanism for controlling the lowering distance of the elevating mechanism such that the holding position at which the holding arms hold different lengths of sample containers is the same among the plurality of types of sample containers; .
In the sample transfer mechanism according to claim 1,
The sample container is held by a holder (720, 721) holding at least one sample container,
The control mechanism is configured such that the holding position of the sample container is (1) a region where the shortest sample container of the plurality of types of sample containers is exposed from the holder, and (2) the holding arm does not contact the holder A sample transfer mechanism that controls the elevating distance of the elevating mechanism so as to be an area.
In the sample transfer mechanism according to claim 1,
A specimen transfer mechanism comprising a member (150) covering at least the outside of the tip of the gripping arm and having a lower end located below the tip of the gripping arm.
In the sample transfer mechanism according to claim 3,
The sample transfer mechanism, wherein the lower end of the member has a rounded shape (600 (a)-(d), 610, 620 (a)-(d)).
In the sample transfer mechanism according to claim 3,
The sample transfer mechanism has a hollow portion (340) in which the member is accommodated in the inner wall with the gripping arm open.
In the sample transfer mechanism according to claim 1,
The sample transfer mechanism which is perpendicular to the horizon when the arm is open.
In the sample transfer mechanism according to claim 3,
The sample transfer mechanism includes a posture correction member (150) for correcting the posture of the sample container, when the member to be held is held on the holder in a state where the sample container to be grasped is inclined.
In the sample transfer mechanism according to claim 3,
The sample container is held by a holder (2100) holding a plurality of sample containers including a first sample container to be gripped and a second sample container located closest to the first sample container Yes,
The sample transfer mechanism having a partition member between the first sample container and the second sample container.
In the sample transfer mechanism according to claim 3,
The sample container includes a first sample container to be gripped, a second sample container located closest to the first sample container, and a second position located closest to the first sample container. A plurality of sample containers including three sample containers are held in a grid-like holder (1400);
The elevating mechanism is a sample transfer mechanism for lowering the gripping arm so that the gripping arm is positioned between the first sample container and the third sample container.
In the sample transfer mechanism according to claim 1,
A sample transfer mechanism having a gripping arm longer than a distance from an opening or a plug (740, 741) of the longest sample container among the plurality of sample containers to a gripping position.
A sample processing apparatus (2500) comprising the sample transfer mechanism according to any one of claims 1 to 10,
The sample testing apparatus includes a plurality of processing units that process a sample.
And a sample transport mechanism for transporting a sample container between the processing units.
In the sample processing apparatus according to claim 11,
The processing unit includes a loading unit (2510 (b)) for transferring a plurality of sample containers loaded while being held in the tray from the outside to another holder, and a sample container for which processing in the sample processing apparatus has been completed. A storage unit (2510 (c)) for storing in a tray to be taken out to the outside, and a centrifugal separation unit (2510 (a)) for transferring the sample container transported in a state mounted on a holder onto a dedicated holder for centrifugation processing The sample processing apparatus which is at least one of.